Related papers: Safe Driving via Expert Guided Policy Optimization

A safe and efficient decision-making system is crucial for autonomous vehicles. However, the complexity of driving environments limits the effectiveness of many rule-based and machine learning approaches. Reinforcement Learning (RL), with…

In safety-critical domains, reinforcement learning (RL) agents must often satisfy strict, zero-cost safety constraints while accomplishing tasks. Existing model-free methods frequently either fail to achieve near-zero safety violations or…

In reinforcement learning, classic on-policy evaluation methods often suffer from high variance and require massive online data to attain the desired accuracy. Previous studies attempt to reduce evaluation variance by searching for or…

Multi-Agent Proximal Policy Optimization (MAPPO) is a variant of the Proximal Policy Optimization (PPO) algorithm, specifically tailored for multi-agent reinforcement learning (MARL). MAPPO optimizes cooperative multi-agent settings by…

This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. We formalize this as a Partially…

During training, reinforcement learning systems interact with the world without considering the safety of their actions. When deployed into the real world, such systems can be dangerous and cause harm to their surroundings. Often, dangerous…

End-to-end (E2E) autonomous driving models that take only camera images as input and directly predict a future trajectory are appealing for their computational efficiency and potential for improved generalization via unified optimization;…

Reinforcement learning with verifiable rewards (RLVR), particularly Group Relative Policy Optimization (GRPO), has advanced LLM reasoning. However, GRPO suffers from three credit assignment failures: uniform token-level granularity that…

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as a promising paradigm for post-training reasoning models. However, group-based methods such as Group Relative Policy Optimization (GRPO) face a critical dilemma in…

Visual reasoning is crucial for understanding complex multimodal data and advancing Artificial General Intelligence. Existing methods enhance the reasoning capability of Multimodal Large Language Models (MLLMs) through Reinforcement…

In Constrained Reinforcement Learning (CRL), agents explore the environment to learn the optimal policy while satisfying constraints. The penalty function method has recently been studied as an effective approach for handling constraints,…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

Safe reinforcement learning (RL) offers advanced solutions to constrained optimal control problems. Existing studies in safe RL implicitly assume continuity in policy functions, where policies map states to actions in a smooth,…

Reinforcement learning for large language models faces a fundamental trade-off between sample efficiency and asymptotic performance: strictly on-policy methods discard trajectories after a single update, while off-policy reuse introduces…

Offline inverse reinforcement learning (Offline IRL) aims to recover the structure of rewards and environment dynamics that underlie observed actions in a fixed, finite set of demonstrations from an expert agent. Accurate models of…

Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…

Reinforcement learning (RL) involves sequential decision making in uncertain environments. The aim of the decision-making agent is to maximize the benefit of acting in its environment over an extended period of time. Finding an optimal…

As the demand for autonomous driving increases, it is paramount to ensure safety. Early accident prediction using deep learning methods for driving safety has recently gained much attention. In this task, early accident prediction and a…

In this paper, we present an adherence-aware reinforcement learning (RL) approach aimed at seeking optimal lane-changing recommendations within a semi-autonomous driving environment to enhance a single vehicle's travel efficiency. The…

We consider the problem of learning the optimal policy for Markov decision processes with safety constraints. We formulate the problem in a reach-avoid setup. Our goal is to design online reinforcement learning algorithms that ensure safety…